CN210823887U

CN210823887U - Intelligent warehousing equipment

Info

Publication number: CN210823887U
Application number: CN201921246579.4U
Authority: CN
Inventors: 詹志超; 廖志敏; 翟俊杰
Original assignee: Guangdong Zhiyuan Robot Technology Co Ltd
Current assignee: Guangdong Zhiyuan Robot Technology Co Ltd
Priority date: 2019-08-03
Filing date: 2019-08-03
Publication date: 2020-06-23
Anticipated expiration: 2029-08-03

Abstract

The utility model relates to an intelligent storage equipment, include storage goods shelves, drive module and get the material clamping jaw, the drive module include the support, install in the sideslip mechanism of support, and with the elevating system that sideslip mechanism connects, get the material clamping jaw with elevating system connects, sideslip mechanism is used for driving elevating system follows horizontal direction reciprocating motion, elevating system is used for driving get the material clamping jaw along vertical direction reciprocating motion, it is right to get the material clamping jaw magazine on the storage goods shelves press from both sides and get and release. The utility model discloses an intelligent storage equipment overall structure is compact, and occupation space is little, low cost, easy to maintain and installation are fit for promoting on a large scale.

Description

Intelligent warehousing equipment

Technical Field

The utility model relates to a storage technical field especially relates to an intelligent storage equipment.

Background

With the rapid development of information technology and control technology, intelligent warehousing is widely and mature to be applied to various industries. However, the existing intelligent storage equipment, such as a refrigeration storage mechanism in the catering industry, mostly adopts an industrial mechanical arm to realize automation, and the mode has the following defects: firstly, the mechanical arm mode can occupy the originally limited space of the refrigeration storage, so that the storage amount is reduced; secondly, the cost of the mechanical arm is high, and the operation cost is greatly increased; in addition, the equipment installation and maintenance requirements are high, and the large-scale popularization is not facilitated.

SUMMERY OF THE UTILITY MODEL

Therefore, the intelligent warehousing equipment is needed to be provided aiming at the problems, the occupied space is small, the cost is low, the installation and the maintenance are convenient, and the intelligent warehousing equipment is suitable for large-scale popularization.

The utility model provides an intelligent warehousing equipment, includes storage goods shelves, drive module and gets the material clamping jaw, the drive module include the support, install in the sideslip mechanism of support and with the elevating system that sideslip mechanism connects, get the material clamping jaw with elevating system connects, sideslip mechanism is used for driving elevating system follows horizontal direction reciprocating motion, elevating system is used for driving get the material clamping jaw along vertical direction reciprocating motion, it is right to get the material clamping jaw be used for magazine on the storage goods shelves is got and release.

Above-mentioned intelligent storage equipment can realize getting the material automatically through the cooperation of drive module and getting the material clamping jaw, and wherein, sideslip mechanism is used for providing the degree of freedom of horizontal direction, and elevating system is used for providing the degree of freedom of vertical direction, can accomplish through sideslip mechanism and elevating system's cooperation and get the material action with getting the material clamping jaw and remove to the arbitrary appointed coordinate position of storage goods shelves. The utility model discloses an intelligent storage equipment replaces traditional industrial robot arm through the drive module, and overall structure is more compact, and occupation space is littleer, and the action of drive module is succinct reliable, low cost, and easy to maintain and installation are fit for promoting on a large scale.

In one embodiment, the support is a frame that sets up side by side with the storage goods shelves, the sideslip mechanism includes first power spare and locates two horizontal direction unipolar robots of both sides about the support, two horizontal direction unipolar robot passes through the drive mechanism transmission and connects, first power spare is used for driving two the synchronous linkage of horizontal direction unipolar robot, elevating system includes vertical direction unipolar robot and is used for driving the second power spare of vertical direction unipolar robot operation.

In one embodiment, the first power member and/or the second power member is a servo motor.

In one of them embodiment, drive mechanism includes the transmission shaft and locates the shaft coupling at transmission shaft both ends, the transmission shaft passes through the shaft coupling with correspond the transmission of horizontal direction unipolar robot is connected, first power component drives the transmission shaft rotates, and then drives two the synchronous linkage of horizontal direction unipolar robot.

In one embodiment, a bearing is sleeved on the transmission shaft, and a fixed support used for mounting the bearing is arranged on the support.

In one embodiment, the storage rack is a gravity type rack, the storage rack comprises a rack body and a plurality of gravity type rails installed in the rack body, and output ends of the gravity type rails are inclined downwards by a preset angle relative to a horizontal plane.

In one embodiment, the material taking clamping jaw comprises a base, a linear driving piece, a rotary driving piece and a mechanical jaw, wherein the base is connected with the lifting mechanism, the rotary driving piece is fixed on the base, the linear driving piece is fixed on a rotary output end of the rotary driving piece, and the mechanical jaw is connected to a linear output end of the linear driving piece.

In one embodiment, the material box is internally provided with an information storage module, and the base is further provided with an information identification device which is used for reading information stored in the information storage module and transmitting the information to the control system.

In one embodiment, the material taking clamping jaw further comprises a detection device arranged on the mechanical jaw, and the detection device is used for detecting whether the mechanical jaw clamps the material box.

In one embodiment, the intelligent storage device further comprises a feeding shelf and a feeding mechanism, the feeding shelf is arranged adjacent to the storage shelf, the feeding mechanism is located between the feeding shelf and the storage shelf, and the feeding mechanism is used for clamping a magazine on the feeding shelf and throwing the magazine to a specified position of the storage shelf.

Drawings

Fig. 1 is a schematic structural diagram of an intelligent warehousing device according to an embodiment of the present invention;

fig. 2 is a schematic view of a matching structure of a driving module and a material taking clamping jaw of the intelligent warehousing equipment in fig. 1;

FIG. 3 is a schematic structural diagram of the driving module shown in FIG. 2;

FIG. 4 is an enlarged view of a portion of FIG. 3 at A;

FIG. 5 is an enlarged view of a portion of FIG. 3 at B;

FIG. 6 is a schematic view of the material extracting jaw of FIG. 2;

fig. 7 is a schematic structural diagram of a storage shelf of the intelligent storage device in fig. 1;

fig. 8 is a schematic structural view of a gravity rail of the storage shelf of fig. 7.

10. Storage rack, 11, rack body, 111, fixed shaft, 12, gravity rail, 121, guide rail assembly, 1211, mounting rack, 1212, guide member, 122, roller assembly, 123, conveying channel, 124, baffle, 20, driving module, 21, support, 211, fixed support, 22, traversing mechanism, 221, first power member, 222, horizontal single-axis robot, 223, transmission shaft, 2231, bearing, 224, coupling, 23, lifting mechanism, 231, vertical single-axis robot, 232, second power member, 24, first support, 25, second support, 30, material taking jaw, 31, base, 32, linear driving member, 33, rotary driving member, 34, gripper, 35, information identification device, 36, detection device, 40, material supplementing rack, 50, material supplementing mechanism, 100, material box.

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. The preferred embodiments of the present invention are shown in the drawings. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. The terms "vertical," "horizontal," and the like are used herein for illustrative purposes only. In the present invention, the terms "first" and "second" do not denote any particular quantity or order, but are merely used to distinguish names.

Referring to fig. 1, an intelligent storage device includes a storage shelf 10, a driving module 20 and a material taking clamping jaw 30, the driving module 20 includes a support 21, a traversing mechanism 22 installed on the support 21, and a lifting mechanism 23 connected with the traversing mechanism 22, the material taking clamping jaw 30 is connected with the lifting mechanism 23, the traversing mechanism 22 is used for driving the lifting mechanism 23 to reciprocate along a horizontal direction, the lifting mechanism 23 is used for driving the material taking clamping jaw 30 to reciprocate along a vertical direction, and the material taking clamping jaw 30 is used for clamping and releasing a material box 100 on the storage shelf 10.

Specifically, storage goods shelves 10 are used for depositing magazine 100, and magazine 100 can be used to hold different types of dishes, and drive module 20 and control system electric connection, drive module 20 can get material clamping jaw 30 and remove the appointed coordinate position to storage goods shelves 10 according to the instruction that control system sent, and it can snatch to carry out magazine 100 to get material clamping jaw 30. The traversing mechanism 22 and the lifting mechanism 23 can specifically adopt a nut-screw matching mechanism, a gear-rack matching mechanism and the like to realize linear driving.

Above-mentioned intelligent storage equipment can realize getting the material automatically through drive module 20 and the cooperation of getting material clamping jaw 30, and wherein, sideslip mechanism 22 is used for providing the degree of freedom of horizontal direction, and elevating system 23 is used for providing the degree of freedom of vertical direction, can accomplish the material action of getting to the arbitrary appointed coordinate position of storage goods shelves 10 with getting material clamping jaw 30 through the cooperation of sideslip mechanism 22 with elevating system 23. The utility model discloses an intelligent storage equipment replaces traditional industrial robot arm through drive module 20, and overall structure is more compact, and occupation space is littleer, and drive module 20's action is succinct reliable, low cost, and easy to maintain and installation are fit for promoting on a large scale.

Referring to fig. 2, in one embodiment, the rack 21 is a frame that is arranged side by side with the storage rack 10, the traversing mechanism 22 includes a first power part 221 and two horizontal single-axis robots 222 that are arranged on the upper and lower sides of the rack 21, the two horizontal single-axis robots 222 are in transmission connection through a transmission mechanism, the first power part 221 is used for driving the two horizontal single-axis robots 222 to synchronously link, and the lifting mechanism 23 includes a vertical single-axis robot 231 and a second power part 232 that is used for driving the vertical single-axis robot 231 to run.

Specifically, referring to fig. 3 and 4, the bracket 21 may be made of square steel to ensure strong supporting strength, the horizontal single-axis robot 222 is fixed to the bracket 21 through the first support 24, the vertical single-axis robot 231 is connected to the horizontal single-axis robot 222 through the second support 25, and the two horizontal single-axis robots 222 may be in transmission connection through transmission mechanisms such as a transmission shaft or a synchronous belt. Horizontal direction unipolar robot 222 through two synchronous operation drives vertical direction unipolar robot 231 simultaneously and moves along the horizontal direction for vertical direction unipolar robot 231's fixed more reliable, the motion is more steady. First power piece 221 and/or second power piece 232 specifically can be servo motor and step motor etc. optionally, first power piece 221 and second power piece 232 all adopt servo motor, and servo motor has higher control accuracy, can make the position of getting material clamping jaw 30 remove more accurately.

In an embodiment, as shown in fig. 3 and 5, the transmission mechanism includes a transmission shaft 223 and couplers 224 disposed at two ends of the transmission shaft 223, the transmission shaft 223 is in transmission connection with the corresponding horizontal single-axis robot 222 through the couplers 224, the first power member 221 drives the transmission shaft 223 to rotate, and further drives the two horizontal single-axis robots 222 to synchronously link, and the transmission mechanism has a simple structure and is reliable in transmission.

Further, a bearing 2231 is sleeved on the transmission shaft 223, and a fixed support 211 for mounting the bearing 2231 is arranged on the bracket 21. Specifically, a bearing 2231, specifically a bearing with a seat 2231, is disposed at a position of the transmission shaft 223 close to the two horizontal single-axis robots 222, and correspondingly, two fixed supports 211 are correspondingly disposed on the support 21. By providing the bearing 2231, the rotation of the transmission shaft 223 can be made more stable, so as to ensure the stability of the transmission.

Further, referring to fig. 7, the storage rack 10 is a gravity type rack, the storage rack 10 includes a rack body 11 and a plurality of gravity type rails 12 installed in the rack body 11, and output ends of the gravity type rails 12 are inclined downward by a predetermined angle with respect to a horizontal plane. Specifically, the opposite two sides of the shelf body 11 are provided with a plurality of fixing shafts 111 arranged side by side along the vertical direction, two ends of the gravity type rail 12 are respectively connected with the two corresponding fixing shafts 111, the gravity type shelf is formed by installing the gravity type rail 12 in the shelf body 11, after the front material holding box 100 is clamped, the rear material holding box 100 can automatically slide down to the output end along the gravity type rail 12, and the turnover efficiency and the storage utilization rate of the storage shelf 10 can be effectively improved.

As shown in fig. 8, in an embodiment, the gravity rail 12 includes two guide rail assemblies 121 disposed opposite to each other, and a roller assembly 122 connected between the two guide rail assemblies 121, a conveying passage 123 is defined between the two guide rail assemblies 121, the conveying passage 123 has an input section, an adjusting section and an output section which are sequentially connected, the width of the input section is greater than that of the output section, the width of the adjusting section is gradually reduced from the input section toward the output section, and the roller assembly 122 is gradually inclined downward from the input section toward the output section. Through carrying out special design to transfer passage 123's structure, make the width of transfer passage 123's input section be greater than the width of output section, can play the effect that restriction magazine 100 breaks away from the track, smoothly lead through the adjustment section simultaneously, magazine 100 can carry out the attitude control at the in-process that glides, and then can effectively alleviate traditional gravity type goods shelves track controllability relatively poor and the smooth problem of gliding.

Further, the roller assembly 122 is provided with a baffle 124 at the outermost side near the output section. When the magazine 100 is conveyed to the foremost end along the conveying channel 123, the blocking plate 124 can play a certain role in blocking the magazine 100, so as to prevent the magazine 100 from sliding out of the gravity rail 12, and ensure the safety in use.

Further, as shown in fig. 8, each of the guide rail assemblies 121 includes an installation frame 1211 and a guide member 1212 connected to a side portion of the installation frame 1211, the guide member 1212 defines the conveying path 123 therebetween, and the roller assembly 122 includes a plurality of rollers arranged side by side along the conveying path 123, and both ends of each of the rollers are respectively connected to the two installation frames 1211. The roller assembly 122 is connected with the two mounting frames 1211 to form a main body supporting structure, the two guide pieces 1212 are mutually matched to form the conveying channel 123, the number of rollers in the roller assembly 122 can be set according to actual requirements, the material box 100 is conveyed along a conveying surface formed by the rollers under the action of gravity, the rollers roll to enable the material box 100 to slide more smoothly, and the conveying efficiency of the material box 100 is improved.

Referring to fig. 6, in one embodiment, the material extracting jaw 30 includes a base 31, a linear driving member 32, a rotary driving member 33, and a gripper 34, wherein the base 31 is connected to the lifting mechanism 23, the rotary driving member 33 is fixed to the base 31, the linear driving member 32 is fixed to a rotary output end of the rotary driving member 33, and the gripper 34 is connected to a linear output end of the linear driving member 32. Can provide the straight line degree of freedom for gripper 34 through linear driving piece 32, can provide the rotational degree of freedom for gripper 34 through rotary driving piece 33, so for gripper 34's motion is more nimble, and wherein, linear driving piece 32 specifically can be cylinder, pneumatic cylinder, linear electric motor etc. rotary driving piece 33 specifically can be revolving cylinder, revolving hydraulic cylinder, revolving electric motor etc.. The gripper 34 may be embodied as a cylinder gripper.

Furthermore, an information storage module is arranged in the magazine 100, and an information recognition device 35 is further arranged on the base 31, wherein the information recognition device 35 is used for reading information stored in the information storage module and transmitting the information to the control system. The information of the cartridge 100 is read quickly and accurately by the information recognition means 35, so that the control system issues a corresponding command to deliver the cartridge 100 to the designated position. For example, the information recognition device 35 may be a Radio Frequency Identification (RFID) device by which built-in chip information of the cartridge 100 can be quickly read. Alternatively, a barcode or a two-dimensional code may be disposed on the surface of the cartridge 100 for information storage, and accordingly, the information recognition device 35 is an information scanning device that can be used to scan the barcode or the two-dimensional code.

Referring to fig. 1 and 6, in an embodiment, when material is to be taken, the driving module 20 drives the material taking clamping jaw 30 to move to a predetermined material taking position, then the linear driving member 32 pushes the mechanical jaw 34 forward, after the mechanical jaw 34 clamps the material box 100, the linear driving member 32 drives the mechanical jaw 34 and the material box 100 to retract, and then the rotary driving member 33 drives the mechanical jaw 34 and the material box 100 to rotate by a certain angle (for example, 180 °) so that the material box 100 is located above the information recognition device 35, thereby conveniently reading information of the material box 100. After the information identification device 35 reads the information stored in the information storage module of the material box 100, the information can be transmitted to an upper computer system through a PLC (programmable logic controller), after the upper computer system sends a corresponding operation instruction, the driving module 20 drives the material taking clamping jaw 30 and the material box 100 to move to a preset material placing position, the linear driving piece 32 pushes the mechanical claw 34 forwards, the material box 100 is moved out of the information identification device 35, the mechanical claw 34 releases the material box 100, the material box 100 can fall to the preset position, and then the whole automatic material taking and material placing process is completed.

Further, the material taking clamping jaw 30 further comprises a detection device 36 arranged on the mechanical jaw 34, and the detection device 36 is used for detecting whether the mechanical jaw 34 clamps the material box 100. Specifically, the detection device 36 may be a photoelectric switch sensor, an infrared sensor, an ultrasonic sensor, or the like. The detection device 36 can detect and track the clamping condition of the gripper 34 in real time, so as to grasp whether the gripper 34 is abnormal in the material taking process in real time.

Optionally, the material taking clamping jaw 30 further includes an alarm device electrically connected to the detection device 36, and the alarm device sends an alarm signal when the detection device 36 detects that the gripper 34 does not grip the material box 100 in the process of gripping and transporting the material box 100 by the gripper 34, wherein the alarm signal may be a sound signal or an optical signal. For example, if the gripper 34 fails to grip the magazine 100 smoothly during gripping the magazine 100, or the magazine 100 falls off during transportation after the gripper 34 grips the magazine 100, the alarm device will send an alarm signal to facilitate the worker to perform troubleshooting and handling in time.

In addition, as shown in fig. 1, in order to facilitate feeding, the smart storage device further includes a feeding shelf 40 and a feeding mechanism 50, the feeding shelf 40 is disposed adjacent to the storage shelf 10, the feeding mechanism 50 is located between the feeding shelf 40 and the storage shelf 10, and the feeding mechanism 50 is configured to pick up a magazine 100 on the feeding shelf 40 and place the magazine 100 at a designated position on the storage shelf 10.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. The utility model provides an intelligent warehousing equipment, its characterized in that includes storage goods shelves, drive module and gets the material clamping jaw, the drive module include the support, install in the sideslip mechanism of support and with the elevating system that sideslip mechanism connects, get the material clamping jaw with elevating system connects, sideslip mechanism is used for driving elevating system follows horizontal direction reciprocating motion, elevating system is used for driving get the material clamping jaw along vertical direction reciprocating motion, it is right to get the material clamping jaw be used for magazine on the storage goods shelves presss from both sides and gets and release.

2. The intelligent warehousing equipment of claim 1, wherein the rack is a frame arranged side by side with the warehousing goods shelf, the traversing mechanism comprises a first power part and two horizontal single-axis robots arranged on the upper side and the lower side of the rack, the two horizontal single-axis robots are connected through a transmission mechanism in a transmission manner, the first power part is used for driving the two horizontal single-axis robots to synchronously link, and the lifting mechanism comprises a vertical single-axis robot and a second power part used for driving the vertical single-axis robot to run.

3. The smart warehousing device of claim 2, wherein the first power member and/or the second power member is a servo motor.

4. The intelligent warehousing equipment of claim 2, wherein the transmission mechanism comprises a transmission shaft and couplers arranged at two ends of the transmission shaft, the transmission shaft is in transmission connection with the corresponding horizontal single-axis robot through the couplers, and the first power part drives the transmission shaft to rotate so as to drive the two horizontal single-axis robots to synchronously link.

5. The intelligent warehousing equipment of claim 4, wherein the transmission shaft is sleeved with a bearing, and the support is provided with a fixed support for mounting the bearing.

6. The intelligent warehousing equipment of claim 1, wherein the warehousing shelf is a gravity type shelf, the warehousing shelf comprises a shelf body and a plurality of gravity type rails installed in the shelf body, and output ends of the gravity type rails are inclined downwards to a horizontal plane by a preset angle.

7. The intelligent warehousing device of any one of claims 1-6, wherein the material taking clamping jaw comprises a base, a linear driving piece, a rotary driving piece and a mechanical claw, the base is connected with the lifting mechanism, the rotary driving piece is fixed on the base, the linear driving piece is fixed on a rotary output end of the rotary driving piece, and the mechanical claw is connected with a linear output end of the linear driving piece.

8. The intelligent warehousing device of claim 7, wherein the magazine has an information storage module disposed therein, and the base has an information recognition device disposed thereon for reading information stored in the information storage module and transmitting the information to a control system.

9. The intelligent warehousing device of claim 7, wherein the material taking clamping jaw further comprises a detection device arranged on the mechanical jaw, and the detection device is used for detecting whether the mechanical jaw clamps the material box.

10. The intelligent storage device according to any one of claims 1 to 6, further comprising a feeding shelf and a feeding mechanism, wherein the feeding shelf is arranged adjacent to the storage shelf, the feeding mechanism is located between the feeding shelf and the storage shelf, and the feeding mechanism is used for clamping a magazine on the feeding shelf and throwing the magazine to a designated position of the storage shelf.